Stabilizer for a delivery system

ABSTRACT

Disclosed herein are embodiments of stabilizers for use in delivering a replacement heart valve. The stabilizers can receive a portion of a delivery system, such as a handle, to prevent unwanted motion of the delivery system. The stabilizer can include a linear actuator for adjusting a position of the delivery system once held within the stabilizer.

PRIORITY CLAIM AND INCORPORATION BY REFERENCE TO ANY PRIORITYAPPLICATIONS

This application claims the benefit of U.S. Provisional Application No.62/741,416, filed Oct. 4, 2018, entitled “STABILIZER FOR A DELIVERYSYSTEM”, the entirety of which is hereby incorporated by reference.

BACKGROUND Field

Certain embodiments disclosed herein relate generally to deliverysystems for a prosthesis, and in some embodiments relate to a stabilizerfor use with a delivery system for delivering a replacement heart valvethrough a transseptal approach.

Description of the Related Art

Human heart valves, which include the aortic, pulmonary, mitral andtricuspid valves, function essentially as one-way valves operating insynchronization with the pumping heart. The valves allow blood to flowdownstream, but block blood from flowing upstream. Diseased heart valvesexhibit impairments such as narrowing of the valve or regurgitation,which inhibit the valves' ability to control blood flow. Suchimpairments reduce the heart's blood-pumping efficiency and can be adebilitating and life-threatening condition. For example, valveinsufficiency can lead to conditions such as heart hypertrophy anddilation of the ventricle. Thus, extensive efforts have been made todevelop methods and apparatuses to repair or replace impaired heartvalves.

Prostheses exist to correct problems associated with impaired heartvalves. For example, mechanical and tissue-based heart valve prosthesescan be used to replace impaired native heart valves. More recently,substantial effort has been dedicated to developing replacement heartvalves, particularly tissue-based replacement heart valves that can bedelivered with less trauma to the patient than through open heartsurgery. Replacement valves are being designed to be delivered throughminimally invasive procedures and even percutaneous procedures. Suchreplacement valves often include a tissue-based valve body that isconnected to an expandable frame that is then delivered to the nativevalve's annulus.

Development of prostheses including but not limited to replacement heartvalves that can be compacted for delivery and then controllably expandedfor controlled placement has proven to be particularly challenging. Anadditional challenge relates to the ability of such prostheses to besecured relative to intralumenal tissue, e.g., tissue within any bodylumen or cavity, in an atraumatic manner.

Delivering a prosthesis to a desired location in the human body, forexample delivering a replacement heart valve to the mitral valve, canalso be challenging. Obtaining access to perform procedures in the heartor in other anatomical locations may require delivery of devicespercutaneously through tortuous vasculature or through open or semi-opensurgical procedures. The ability to control the location of a deliverysystem and the deployment of the prosthesis at the desired location canalso be challenging.

SUMMARY

The present disclosure includes, but is not limited to, the followingembodiments.

EMBODIMENT 1

A stabilizer for a delivery system. The stabilizer can comprise anelongated main body. The elongated main body can comprise a proximal endand a distal end and a longitudinal axis extending between the proximalend and the distal end. The elongated main body can comprise a generallyflat base plate extending between the proximal and the distal end. Theelongated main body can comprise a first angled surface. The firstangled surface can be located on top of the base plate. The first angledsurface can be sloped downwardly toward the distal end. The elongatedmain body can comprise a second angled surface. The second angledsurface can be located on top of the base plate. The second angledsurface can be spaced longitudinally away from and proximal of the firstangled surface. The second angled surface can be sloped downwardlytoward the distal end. The stabilizer can further include a hub nest.The hub nest can be attachable on top of the first angled surface. Thehub nest can comprise an extension extending upwards from the firstangled surface. The extension can be configured to releasably hold asheath hub of the delivery system. The stabilizer can further include ahandle carriage. The handle carriage can be on top of the second angledsurface. The handle carriage can comprise a track attachable to thesecond angled surface and a delivery system clamp configured tolongitudinally travel along the track. The delivery system clamp can beconfigured to releasably hold a handle of the delivery system. Thestabilizer can further include a base adapter, wherein the distal end ofthe main body is configured to releasably connect with the base adapter.

EMBODIMENT 2

The stabilizer of Embodiment 1, further comprising a pair of attachmentclaims, wherein each of the pair of attachment clamps does not have anysharp ends.

EMBODIMENT 3

The stabilizer of Embodiment 1 or Embodiment 2, wherein the base adaptercomprises a pair of proximally extending arms and an upper tabconfigured to receive distally extending tabs of the main body toprevent upward motion of the main body.

EMBODIMENT 4

The stabilizer of any one of Embodiments 1-3, wherein the first angledsurface and the second angled surface are configured to be individuallyangularly adjusted with respect to the flat base plate.

EMBODIMENT 5

The stabilizer of any one of Embodiments 1-4, wherein the handlecarriage comprises a first knob configured to longitudinally translatethe delivery system clamp along the housing and a second knob configuredto open and close the delivery system clamp.

EMBODIMENT 6

The stabilizer of any one of Embodiments 1-5, further comprising atravel screw located within the housing, wherein a portion of thedelivery system clamp is located within the housing and interfaces withthe travel screw.

EMBODIMENT 7

The stabilizer of any one of Embodiments 1-6, wherein the first angledsurface has a lower height relative to the base plate than the secondangled surface.

EMBODIMENT 8

The stabilizer of any one of Embodiments 1-6, wherein the first angledsurface has approximately the same angle on a top surface of the firstangled surface as a top surface on the second angled surface.

EMBODIMENT 9

The stabilizer of any one of Embodiments 1-8, wherein the first angledsurface and the second angled surface each have an angle between 5 and30 degrees.

EMBODIMENT 10

The stabilizer of any one of Embodiments 1-9, wherein the extensioncomprises a pair of arms.

EMBODIMENT 11

The stabilizer of Embodiment 10, wherein the pair of arms comprises aspring plunger configured to hold the sheath hub.

EMBODIMENT 12

The stabilizer of Embodiments 1-11, wherein a motor is configured totranslate the delivery system clamp along the track, and wherein themotor is configured to open and close the delivery system clamp.

EMBODIMENT 13

The stabilizer of Embodiment 12, wherein the motor is configured to beoperated remotely.

EMBODIMENT 14

A stabilizer system comprising the stabilizer of any one of Embodiments1-13, and further comprising a pair of attachment clamps configured toattach the main body to a base, a first of the pair of attachment clampsattachable to the base adapter and a second of the pair of attachmentclamps attachable to the main body.

EMBODIMENT 15

A stabilizer system comprising the stabilizer of any one of Embodiments1-13, and further comprising a delivery system.

EMBODIMENT 16

The stabilizer system of Embodiment 15, wherein the delivery systemcomprises a handle, wherein a portion of the delivery system distal tothe handle is releasably held within the hub nest and the handle isreleasably held within the delivery system clamp of the handle carriage.

EMBODIMENT 17

The stabilizer system of Embodiment 15 or Embodiment 16, wherein thedelivery system is configured for trans septal delivery of a replacementmitral heart valve.

EMBODIMENT 18

A stabilizer system comprising the stabilizer of any one of Embodiments1-17, and further comprising a base having a generally flat uppersurface and a plurality of legs extending downwards.

EMBODIMENT 19

The stabilizer system of Embodiment 18, wherein the stabilizer isconfigured to clamp onto the generally flat upper surface of the base.

EMBODIMENT 20

The stabilizer system of Embodiment 18 or Embodiment 19, and furthercomprising a generally flat plate, wherein the plurality of legs areconfigured to be located on the generally flat plate.

EMBODIMENT 21

The stabilizer system of any one of Embodiments 18-20, wherein thestabilizer is configured to magnetically attach to the generally flatupper surface of the base.

EMBODIMENT 22

The stabilizer system of Embodiment 21, wherein the magneticallyattachment comprises electromagnetically attachment.

EMBODIMENT 23

A stabilizer for a delivery system. The stabilizer can comprise a mainbody comprising a proximal end, a distal end and a longitudinal axisextending between the proximal end and the distal end. The stabilizercan comprise a handle carriage. The handle carriage can be provided at aproximal location along the main body. The handle carriage can comprisean angled track that is sloped downwardly toward the distal end of themain body. The handle carriage can comprise a delivery system clampconfigured to longitudinally travel along the track. The delivery systemclamp can be configured to releasably hold a handle of the deliverysystem. The stabilizer can include a nest. The nest can be positioned ata distal location along the main body. The nest can be configured toreleasably hold a portion of the delivery system.

EMBODIMENT 24

The stabilizer of Embodiment 23, wherein the main body comprises a firstangled surface configured to support the nest and a second angledsurface proximal to the first angled surface configured to support thehandle carriage.

EMBODIMENT 25

The stabilizer of Embodiment 23 or Embodiment 24, further comprising abase adapter releasably attachable to the main body.

EMBODIMENT 26

A method of using the stabilizer of any of the preceding Embodiments tocontrol a delivery system.

EMBODIMENT 27

A universal stabilizer for a delivery system, the universal stabilizercomprising a longitudinally extending rail having an upper facingsurface and a lower facing surface, a stationary clamp attached to thelower facing surface of the longitudinally extending rail, a moveableclamp attached to the lower facing surface of the longitudinallyextending rail and spaced longitudinally away from the stationary clamp,wherein the moveable clamp is configured to translate along thelongitudinally extending rail, and a rail dock attached to the upperfacing surface of the longitudinally extending rail, the rail dockconfigured to mate with a delivery system holder on an upper facingsurface of the rail dock, wherein the rail dock is configured totranslate along the longitudinally extending rail.

EMBODIMENT 28

The universal stabilizer of Embodiment 27, wherein the rail is apicatinny rail.

EMBODIMENT 29

The universal stabilizer of Embodiment 27 or 28, wherein the moveableclamp comprises a knob configured to adjust a longitudinal position ofthe moveable clamp.

EMBODIMENT 30

The universal stabilizer of any one of Embodiments 27-29, wherein therail dock comprises a handle connected to a plate on an opposite side ofthe rail dock, wherein activation of the handle prevents the rail dockfrom translating on the longitudinally extending rail.

EMBODIMENT 31

The universal stabilizer of any one of Embodiments 27-30, wherein thedelivery system holder comprises a handle carriage comprising a trackand a delivery system clamp configured to longitudinally travel alongthe track, wherein the delivery system clamp is configured to releasablyhold a handle of a delivery system.

EMBODIMENT 32

The universal stabilizer of any one of Embodiments 27-31, wherein thelongitudinally extending rail further comprises a first pair ofoutwardly extending protrusions forming a first cavity between and asecond pair of outwardly extending protrusions forming a second cavitybetween, the first pair of outwardly extending protrusions being on anopposite side of the rail from the second pair of outwardly extendingprotrusions.

EMBODIMENT 33

The universal stabilizer of any one of Embodiments 27-32, furthercomprising a second rail dock attached to the upper facing surface ofthe longitudinally extending rail and spaced apart from the rail dock,the second the rail dock configured to mate with a second deliverysystem holder on an upper facing surface of the second rail dock,wherein the second rail dock is configured to translate along thelongitudinally extending rail.

EMBODIMENT 34

A motorized control stabilizer system for a delivery device having ahandle with plurality of actuators, the system comprising a knob controlsystem configured to individually operate each of the plurality ofactuators, the knob control system comprising a container configured toat least partially encompass the handle, a plurality of stationarysections located within the container and configured to hold the handlein a position, a plurality of roller sections located within thecontainer, each of the plurality of roller sections containing at leastone roller, and a motor configured to operate the at least one roller ineach of the plurality of roller sections individually, wherein the atleast one roller in each of the plurality of roller sections isconfigured to operate an actuator of the plurality of actuators when theat least one roller is operated, and a handle control system configuredto translate the handle of the delivery device, the handle controlsystem comprising a band configured to at least partially surround thecontainer and rotate the container and handle upon translation of theband, a stand connected to the band, and a track in communication withthe stand, wherein the stand is configured to translate along the track.

EMBODIMENT 35

The motorized control stabilizer system of Embodiment 34, furthercomprising a controller to electronically operate the motorized controlstabilizer system.

EMBODIMENT 36

The motorized control stabilizer system of Embodiment 34 or 35, whereinthe container comprises a distal aperture, and wherein shafts extendingfrom the handle of the delivery device are configured to extend throughthe distal aperture.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A-1B illustrate an embodiment of a stabilizer for a deliverysystem.

FIG. 2 illustrates an embodiment of a base which can be used with thestabilizer of FIG. 1.

FIG. 3 illustrates an embodiment of a plate which can be used inconjunction with the base of FIG. 2.

FIGS. 4-5 illustrate embodiments of clamps which can be used with astabilizer.

FIG. 6 illustrates embodiments of a stabilizer main body with certaincomponents removed.

FIGS. 7-8 illustrate embodiments of a distal end of the stabilizer mainbody and a base adapter.

FIGS. 9-11 illustrate embodiments of a hub nest assembly.

FIGS. 12-14 illustrate embodiments of a linear clamp assembly.

FIGS. 15A-15C illustrates embodiments of a clamp for a delivery system.

FIGS. 16-18 illustrate an embodiment of a stabilizer with a deliverysystem held within the stabilizer in different positions.

FIG. 19 illustrates an embodiment of a universal rail system.

FIGS. 20A-20F illustrate embodiments of a rail dock.

FIGS. 21A-21C illustrate embodiments of a rail.

FIGS. 22A-22B illustrate embodiments of alternative rail cross-sections.

FIG. 23 illustrates an embodiment of a rail and stationary clamp.

FIGS. 24A-24C illustrate embodiments of a stationary clamp attaching todifferent surfaces.

FIG. 25 illustrates an embodiment of a moveable clamp.

FIGS. 26A-26B illustrate embodiments of a moveable clamp attaching to asurface.

FIG. 27 illustrates an embodiment of a rail having wings.

FIG. 28 illustrates an embodiment of a universal rail system.

FIG. 29 illustrates a motorized knob delivery system rotation mechanism.

FIG. 30 illustrates a motorized delivery system rotation mechanism.

DETAILED DESCRIPTION

The present specification and drawings provide aspects and features ofthe disclosure in the context of several embodiments of replacementheart valves, delivery systems and methods that are configured for usein the vasculature of a patient, such as for replacement of naturalheart valves in a patient. These embodiments may be discussed inconnection with replacing specific valves such as the patient's aortic,tricuspid, or mitral valve. However, it is to be understood that thefeatures and concepts discussed herein can be applied to products otherthan heart valve implants. For example, the controlled positioning,deployment, and securing features described herein can be applied tomedical implants, for example other types of expandable prostheses, foruse elsewhere in the body, such as within an artery, a vein, or otherbody cavities or locations. In addition, particular features of a valve,delivery system, etc. should not be taken as limiting, and features ofany one embodiment discussed herein can be combined with features ofother embodiments as desired and when appropriate. While certain of theembodiments described herein are described in connection with atransfemoral (or transseptal) delivery approach, it should be understoodthat these embodiments can be used for other delivery approaches suchas, for example, transapical or transjugular approaches. Moreover, itshould be understood that certain of the features described inconnection with some embodiments can be incorporated with otherembodiments, including those which are described in connection withdifferent delivery approaches.

Stabilizer

FIGS. 1A-1B illustrate an embodiment of a stabilizer 100 which can beused to hold embodiments of a delivery system in proper position whenusing the delivery systems. Examples of delivery systems that may beheld with the stabilizer are described in detail in U.S. Pat. Pub. Nos.2017/005616, 2016/0317301, 2017/005617, and 2019/0008640, the entiretyof each of which is hereby incorporated by reference in its entirety.The disclosed stabilizer 100 can be advantageous for a transseptal(e.g., transfemoral) approach for delivering a replacement heart valveby allowing for fine motor control of a delivery system within thestabilizer. However, the embodiments of the stabilizer 100 disclosedherein can be used for other approaches and other procedures as well,such as transapical approaches, and are not so limited to replacementheart valves.

Generally, the stabilizer 100 (e.g., system, stabilizer system,stabilizer station) can be a system for use during an implant/surgicalprocedure, while including certain movable components. The stabilizer100 can be used to hold a delivery system in place, for example above apatient's leg or on an operating table, though the particular positionis not limiting. A delivery system, such as for delivering a replacementheart valve, can be locked into the stabilizer 100, as discussed below,which allows the delivery system to remain stable during the procedure.In some embodiments, the stabilizer 100 can be used to torque (rotate),advance, and/or retract components (independently or simultaneously) ofthe delivery system in a controlled manner. As shown in FIG. 1A, thedistal end 203 of the stabilizer 100 can be the end closest to thedelivery site (e.g., the patient or a location within the patient) wherethe proximal end 205 of the stabilizer 100 is located opposite thedistal end 203.

Previously, delivery systems were held in place by an operator duringthe whole procedure. The operator would manually move the deliverysystem or components thereof, and thus accuracy of the delivery systemmovements is highly dependent on the stability and skill of theoperator. If the operator moves the device unintentionally, then properpositioning of the system and associate implant could be lost and/orcompromised. Further, if movements are intentional, but too gross,proper positioning could also be lost and/or compromised. Accordingly,embodiments of the disclosed stabilizer can provide for stability duringoperation of a delivery system.

In some embodiments, the disclosed stabilizer 100 is provided as part ofa stabilizer system or stabilizer assembly that can also include a base,stool or other flat surface 102, such as shown in FIGS. 1B and 2. Insome embodiments, the base 102 may not be used. In some embodiments, thebase 102, such as shown in FIG. 2, can be, for example, placed over apatient's leg in order to help support the stabilizer 100. The base 102can be sized to properly interact with the stabilizer 100. In someembodiments, the base 102 can include a generally flat upper surface 106with a number of legs 108 extending downwards from that surface. Thus, apatient may extend their leg through gaps between adjacent legs 108 asneeded. In some embodiments, 2, 3, 4, 5, 6, 7, or 8 legs can be usedwith the base 102. In some embodiments, the legs 108 can be adjustablein order to vary the height of the upper surface 106. The legs 108 canbe separately or simultaneously adjustable. In some embodiments, thelegs 108 can end in lockable wheels for transporting the base 102. Insome embodiments, the legs 108 can end in padded or rubber ends 110,such as shown in FIG. 2, which can provide grip to the base 102. In someembodiments, the lockable wheels and rubber ends 110 may be removableand interchangeable from the legs 108. In some embodiments, the uppersurface 106 may include one or more components for interacting with thestabilizer 100.

In some embodiments, a stabilizer system can further include a plate 104or other hard surface which can be placed under a patient for providinga stable surface 112 for the base 102 to be placed on, as shown in FIG.3. In some embodiments, the plate 104 can be non-sterile. The plate 104can be generally flat in some embodiments, or can have protrusions orother extensions. In some embodiments, the plate 104 can include cutouts114 which can be used as handles for moving the plate. Further, theplate 104 can include indentations, divots, or apertures for receivingthe legs 108 of the base 102. The plate 104 can be made of metal,plastic, or ceramic and the particular material does not limit thedisclosure.

The plate 104 can rest on a table or other surface, such as an operatingroom table, beneath a patient's leg and can provide a rigid surface forthe legs 108 of the base 102 to stand on. Thus, the base 102 can rest ontop of the plate 104 to provide a raised, rigid surface for thestabilizer 100 above the legs. In some embodiments, the plate 104 andthe base 102 can be non-sterile and can be located underneath a steriledrape. In some embodiments, the stabilizer 100 can be sterile and placedon top of a sterile drape.

In some embodiments, the plate 104 and/or the base 102 may not be usedwith the stabilizer 100.

The stabilizer 100 can be attached to the base discussed above, or othertable such as an operating table, through the use of one or more clamps120, shown in detail in FIGS. 1A-1B. In some embodiments, the base 102and plate 104 discussed above may not be used in the stabilizer 100, andthe stabilizer 100 can be attached directly to a table or other flatsurface.

FIGS. 4-5 illustrate embodiments of a clamp 120 attached at a distal end(FIG. 4) and a proximal end (FIG. 5) of the stabilizer 100.Advantageously, embodiments of the disclosed clamp 120 can be aone-piece clamp, though other types of clamps can be used as well. Insome embodiments, the clamp 120 can be a sterilizable c-clamp. Further,the clamp 120 can be low profile so that it does not interfere with thepatient's leg or the operating field. The clamp 120 can include all ormostly all rounded/atraumatic surfaces so as not to break any sterilefield that has been used during operation. Thus, the clamp 120 may notinclude any sharp corners as shown in FIGS. 4-5.

As shown in FIGS. 1A-1B, the stabilizer 100 can be attached to the base102 (or other flat surface) using two clamps 120, one at a proximal endand one at a distal end, though other numbers of clamps can be used,such as 1, 2, 3, 4, or 5 clamps. In some embodiments, the clamps 120 canbe the same. In some embodiments, there can be differences betweenclamps 120. In some embodiments, the clamps 120 can be removable fromthe stabilizer 100. In some embodiments, the clamps 120 can bepermanently connected to the stabilizer 100. In some embodiments, theclamps 120 have no sharp edges, which can allow them to be compatiblewith a sterile drape placed over the base 102 to avoid tearing. Theclamps 120 themselves can be spaced on generally opposite sides of thestabilizer 100 (either lengthwise or widthwise). In some embodiments,the clamps 120 can be physically attached to the stabilizer 100. In someembodiments, the clamps 120 can be removable or movable on thestabilizer 100, thus allowing them to be moved to an optimal clampingposition.

As shown in FIGS. 4-5, the clamp 120 can be formed of two spaced-apartlegs, an inner leg 122 and an outer leg 124, connected by a connectorleg 126, thereby forming a general C-shape or U-shape, though othershapes can be used as well. The inner and outer legs 122/124 can begenerally the same size and shape, though they may be different shapes.They also may extend generally parallel to one another. The inner leg122 may include a first pad 121 facing towards the outer leg 124. Thefirst pad 121 may be rubber or other soft material (cloth, plastic,etc.). The outer leg 124 may accept a threaded screw/bolt 123 between asecond pad 125 and a handle 127 for tightening the clamp 120, such asthrough an aperture (threaded or unthreaded) in the outer leg 124. Thus,a portion of the stabilizer 100 can be located and compressed betweenpads 121/125 in order to hold the stabilizer 100 in place. However,other clamps can be used as well and the particular clamp does not limitthe disclosure.

As shown in FIG. 6, with some components removed for convenience, thestabilizer 100 can include a main body 202 (or elongated main body). Themain body 202 can be generally rectangular in shape, though theparticular shape is not limiting and other shapes, such as circles,triangles, etc., can be used as well. The main body 202 can include alongitudinal axis extending from the proximal end 203 to the distal end205, such as generally along a center of the main body 202. The mainbody 202 can include some or all of the features disclosed below.

The main body 202 can include a generally flat elongated base plate 207,a first angled section 130, and a second angled section 150. The mainbody 202 can have a generally flat bottom surface in order to lay flaton a surface, such as base 102 or other table surface. The main body 202can include grooves, tabs, or other mechanical attachment components ona bottom surface, such as to improve frictional grip and preventmovement. In some embodiments, the proximalmost end of the main body 202can include a flange (e.g., lip) 204 extending downwards. This flange204 can extend over the edge of a base or surface, thereby allowing forproper positioning of the base 102. In some embodiments, the flange 204can be hook shaped for wrapping around the edge of a surface. In someembodiments, the flange 204 may include some movement in order to lockonto different sized surface. Further, a clamp 120 can be attached tothe flange 102, such as shown in FIG. 5, in order to hold the stabilizer100 in place. In some embodiments, the main body 202 can also include aflange at the distalmost end to fully wrap around a table. In someembodiments, more than one flange 102 may be used on either end. In someembodiments, no flanges are used on either end of the stabilizer 100.

In some embodiments, the main body 202 can include one or more cutoutsections 206, such as seen in FIG. 6. This can generally reduce theweight of the stabilizer 100. However, in some embodiments the main body202 does not include the cutouts. The cutouts 206 can be rectangular,circular, triangular, or any shape. In some embodiments, the main body202 can include two cutouts 206, one at a proximal end 203 and one at adistal end 205. The cutout 206 at the distal end 205 can extend to thedistalmost end of the stabilizer 100 and thus the cutout may not befully surrounded by the stabilizer 100.

As shown in FIG. 6, the main body 202 can include a first angled section(e.g., distal angled section, sheath holder) 130 and a second angledsection (e.g., proximal angled section, handle holder) 150. The firstangled section 130 is distal to the second angled section 150. The firstangled section 130 has an angled surface and the second angled section150 has an angled surface. In some embodiments, the distal angledsurface (e.g., on the first angled section 130) is configured to hold asheath (such as an integrated sheath) of a delivery system stationarywhile the handle of the delivery system can be held on the secondproximal angled surface (e.g., on the second angled section 150) and canmove in and out relative to the sheath (e.g., the delivery system movesthrough the stationary held sheath). Holding the sheath stationaryprevents unintended sheath movement, for example in and out of thefemoral vein, decreasing trauma and potentially decreasing blood loss.Additionally, embodiments of the disclosed stabilizer 100 can have a lowprofile and be angled for optimized access of a patient, such asoptimized femoral access.

The first angled section 130, which is provided at or near the distalend 205 of the base 207, is shown in greater detail in FIGS. 7-8. Theangled section 130 can be generally angled downwards towards the distalend. As shown, the angled section 130 can include an upward facingangled surface 132, which is raised from the base plate 207 and whichcan be at a particular angle from the flat main body 202. For example,the angle can be 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, 25, 30, 35, 45,or 50° with respect to the main body 202. In some embodiments, the anglecan be between 5 and 30° (or between about 5 and about 30°). In someembodiments, the angle can be between 5 and 15° (or between about 5 andabout 15°). The upward facing angled surface 132 can be flat, orgenerally flat. In some embodiments, the angle of the upward facingsurface 132 can be adjustable, such as through knobs, screws, motors, orother electric controls. In some embodiments, the angle can be fixed inone position. Further, the upward angled surface 132 can be rotatedaround a vertical axis to provide further repositioning. In someembodiments, the upward facing surface 132 can include a slot 134extending generally proximally to distally (e.g., generally parallel tothe longitudinal axis of the stabilizer 100) for attachment of the hubnest 160, described further below.

The upward facing surface 132 can be attached to the main body 202 by apair of walls 136, as shown in FIG. 7-8. In some embodiments, the pairof walls 136 include apertures 138, though in some embodiments the pairof walls 136 does not include any apertures. Other shapes and designscan be used as well, such as rounded surfaces, generally half-sphericalsurfaces, etc., and the shape is not limiting.

Each or the pair of walls 136, though in some embodiments only one ofthe pair of walls 136, may include distally extending tabs/extensions131. The tabs 131 can be generally rectangular in shape, but theparticular shape is not limiting. The tabs 131 can be configured to mateor dock with a base adapter 140 for attachment of the stabilizer 100 toa table. In some embodiments, the upward facing surface 132 may beattached to the main body 202 by a proximal back wall, but someembodiments may not use a proximal back wall.

The base adapter (e.g., dock) 140 shown in FIGS. 7-8 can be a separatepiece from the rest of the stabilizer 100, though in some embodimentscan be connected. A separate base adapter 140 allows the base adapter140 to be attached/clamped/set up prior to operation of the stabilizer100. Thus, when the delivery system is ready to be used, a distal end ofthe main body 202 can insert into the base adapter 140, such as aproximal end of the base adapter 140, quickly and only one clamp isrequired to finalize the position. The base adapter 140, once attachedto a surface, provides features for the stabilizer 100 to slide into,discussed in detail below. When the stabilizer 100 is secured into thebase adapter 140, and all clamps 120 are attached, the base adapter 140prevents the stabilizer 100 from lifting away. FIG. 7 illustrates thebase adapter 140 connected to the main body 202 and FIG. 8 shows thebase adapter 140 and the main body 202 separated. While the base adapter140 is shown attached at the distal end of the stabilizer 100, it caninstead be located on the proximal end. In some embodiments, two baseadapters can be used, one on each end. In some embodiments, the baseadapter 140 can be connected to the stabilizer 100, but can includeadjustable features such as ratcheting, clamping, etc. to attach to atable.

As shown in FIG. 7-8, the base adapter 140 can include a downward facingflange 142 at its distalmost end. The downward facing flange 142 can beused to attach a clamp 120 to the table, such as shown in FIG. 4.However, a flange may not be used in some embodiments. In someembodiments, the flange 142 may be a hook shaped for wrapping around asurface. Moving proximally from the flange 142, the base adapter 140 caninclude a generally flat base surface 144 followed by a docking feature146. The docking feature 146 can include an upwardly extending surface148 with a top surface (or tab) 141 and two flanges (or tabs) 143extending proximally from the upwardly extending surface 148. The tabs131 discussed above can mate with the flanges 143. For example, theflanges 143 may be able to flex outwards to receive the tabs 131 andthus provide a frictional force on the tabs 131. Further, the tabs 131may be inserted between the flanges 143 in order to abut against theupwardly extending surface 148 on their distal ends, thus docking thetabs 131 with the docking features as shown in FIG. 7. Thus, the topsurface 141 prevents vertical motion of the tabs 131, preventingremoval. In some embodiments, screws, bolts, tabs, etc. can be used toremovably attach the tabs 131 to the docking features 146. This is oneexample of a base adaptor 140 but other base adapters may be used aswell. Further, a base adapter 140 may not be used and the stabilizer 100can attach directly to a surface.

Moving proximally on the stabilizer 100, FIGS. 9-11 illustrate anembodiment of a hub nest assembly or guide assembly 170. Attached toupward facing surface 132 is a hub nest assembly 160. The hub nestassembly 160 can include a generally rectangular hub nest adapter 162which can rest at least partially on the upward facing surface 132. Thehub nest adapter 162 can further include a downward facing longitudinaltab 164, such as shown in FIG. 10, configured to mate with the slot 134on the upward facing surface 132. In some embodiments, the hub nestadapter 162 can be moved along the slot 134 and attached to the upwardfacing surface 132 for proper positioning of a delivery system withinthe stabilizer 100.

Generally at the distal end of the hub nest adapter 162 is the hub nest166, though the position is not limiting. In some embodiments, the hubnest 166 attaches directly to the upward facing surface 132 and the hubnest adapter 162 is not used. The hub nest 166 can extend upwards fromthe hub nest adapter 162 and can therefore be angled with respect to themain body 202 of the stabilizer 100. The position and angle of the hubnest adapter 162 can be adjusted in some embodiments. The hub nest 166can include a pair of upwardly extending arms 168 which are configuredin some embodiments to mate with a sheath hub of the delivery systemwhich is connected to the rigid live-on (or integrated) sheath. Anexample of such a sheath hub 161 is shown in FIG. 11. The sheath hub 161may be attached to the hub nest 166 prior to attachment of the deliverysystem, or can be attached during attachment of the delivery system. Insome embodiments, the upward extending arms 168 can releasably mate withanother component of the delivery system, such as a distal portion of ahandle or an outer sheath assembly of a delivery system. In someembodiments, the upwardly extending arms 168 can include spring plungers163 on one or both of the arms 168 in order to lock the sheath hub 161in place. Further, the spring plungers 163 can allow for rotationalmotion of the sheath hub 161 with respect to the hub nest 166. However,other attachment methods can be used as well, and the particularattachment is not limiting. In some embodiments, the hub nest 166 caninclude a mating detent for the sheath hub. This can provide for tactilefeedback to a user. Advantageously, the hub nest 166 can hold the sheathhub 161 stationary during the surgical procedure and preventsunnecessary moving. This can minimize trauma to the access site.

The second angled section 150, which is provided at or near the proximalend 203 of the main body 202, is shown in greater detail in FIGS.12-15C. The angled section 150 can be generally angled downwards towardsthe distal end. As shown, the angled section 150 can include an upwardfacing angled surface 152, which is raised from the base plate 207 andwhich can be at a particular angle from the flat main body 202. Forexample, the angle can be 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, 25, 30,35, 45, or 50°. In some embodiments, the angle can be between 5 and 30°(or between about 5 and about 30°). In some embodiments, the angle canbe between 5 and 15° (or between about 5 and about 15°). The upwardfacing angled surface 152 can be flat, or generally flat. In someembodiments, the angle of the upward facing surface 152 can beadjustable, such as through knobs, screws, motors, or other electroniccontrols. In some embodiments, the angle can be fixed. Further, theupward angled surface 152 can be rotated around a vertical axis toprovide further repositioning.

In some embodiments, the upward facing surface 152 can include a slot154 extending generally proximally to distally. Further, as shown theupward facing surface 152 can be attached to the main body 202 by a pairof sidewalls 156.

In some embodiments, the second angled portion 150 can be spaced awayfrom the first angled portion 130, though alternatively they can beconnected. In some embodiments, the first and second angled portions130/150 are longitudinally aligned.

Further, as shown in the figures the second angled section 150 can havea height less than the first angled section 130. However, in someembodiments they can have the same height. In some embodiments thesecond angled section 150 can have a height greater than the firstangled section 130. In some embodiments, the upward facing surface 152of the second angled section 150 can be co-planar with the upward facingsurface 132 of the first angled section 130. In some embodiments, theupward facing surface 152 of the second angled section 150 is notco-planar with the upward facing surface 132 of the first angled section130. In some embodiments, the upward facing surface 152 of the secondangled section 150 can be parallel with the upward facing surface 132 ofthe first angled section 130. In some embodiments, the upward facingsurface 152 of the second angled section 150 is not parallel with theupward facing surface 132 of the first angled section 130. In someembodiments, the upward facing surface 152 of the second angled section150 is parallel but not co-planar with the upward facing surface 132 ofthe first angled section 130.

On top of the second angled section 150, and mating with the slot 154,is the linear clamp assembly 170 shown in FIGS. 12-15C. The slot 154 canextend parallel, or generally parallel, to the longitudinal axis of themain body 202. If a patient were aligned perpendicular to thelongitudinal axis of the main body 202, the linear clamp assembly 170allows for medial/lateral adjustment. The linear clamp assembly 170 caninclude a track housing 172, which in some embodiments can comprise ahousing generally shaped like a rectangular prism, though the shape isnot limiting, with a longitudinally extending tab 174 on the bottom tomate with the slot 154, shown in FIG. 13. The track or housing 172 canbe hollow to contain a travel screw 176, shown in FIG. 14. In someembodiments, the track or housing 172 further contains a handle or knob178 for turning the travel screw 176. In some embodiments, there may beno housing containing the travel screw 176. In some embodiments, theangled section 150 can be unlocked from the base plate 207. This canallow the angled section 150, and the components on top, to sliderelative to the base plate. This can allow for large adjustments to thehandle carriage 180, allowing for the ability to readjust if a hard stopis hit.

A handle carriage 180 can interface with the travel screw 176, such aswith a threaded aperture 182 that is located within the housing 172 andsurrounds the travel screw 176. Thus, when the travel screw 176 isturned, such as by rotation of the knob 178, the handle carriage 180will travel longitudinally (e.g., proximally to distally and distally toproximally) along the housing 172. The handle carriage 180 can travel60, 70, 80, 90, 100, 110, 120, or 130 mm. In some embodiments, thehandle carriage 180 can travel greater than 60, 70, 80, 90, 100, 110,120, or 130 mm. In some embodiments, the handle carriage 180 can travelless than 60, 70, 80, 90, 100, 110, 120, or 130 mm. The travel along thetravel screw 176 can be controlled using spring plungers which mate withdetents on the knob 178. This can allow for detented, controlled travelof the handle carriage 180. Tactile feel of each “click” as the knob 178turns can provide an operator tactile feedback for proper advancementalong the travel screw 176, and can facilitate more controlled motion ofthe delivery system.

Attached at a top of the handle carriage 180 is a clamp 184, such as apadded or rubber overmolded clamp, shown in FIG. 15A. In someembodiments, the handle carriage 180 is integrally formed with a firsthalf of the clamp 184. In some embodiments, the handle carriage 180 isseparately formed from the clamp 184. The first half of the clamp 186can be relatively stationary with respect to the handle carriage 180,such as if they are integrally formed. The second half of the clamp 188can be connected to the first half of the clamp 186, such as through ascrew or bolt 181. A knob 183 can therefore be used to tighten or loosenthe two clamp halves 186/188. In some embodiments, the second clamp half188 can be held within a slot 185 in the first clamp half 186 to preventrotation of the second clamp half. The clamp 182 can be sized andconfigured to hold a handle of a delivery system. Further, the clamp 182can resist rotational forces applied to the delivery system, such asknob rotational forces.

FIG. 15B illustrates further details of the handle carriage 180 of FIG.15A. As shown, the internal cavity of first clamp half 186 can includefemale threading all the way through. Once the bolt 181 is threaded asfar as possible, the top of clamp half 188 can bend inwards towards half186 in a fulcrum motion to further compress any delivery system heldwithin. The handle carriage 180 can further include a pin 189 which canextend through clamp 186 and be press fit into clamp 188. The pin 189 ispress fit into the padded half to prevent release by too muchunthreading, and therefore acts as a “hard stop” to prevent half 188from being released.

FIG. 15C illustrates an alternate embodiment of the handle carriage 180shown in FIG. 15B. As shown, the female threading does not extend allthe way through half 186, and therefore has an unthreaded cavity 187.This allows the bolt 181 to slide within that cavity 187 withoutturning, allowing for a quicker release when opening. Further, thehandle carriage 180 can include pin 189 which can extend through clamp186 and be press fit into clamp 188, again preventing accidentalrelease. The pin 189 can include a spring 191. When the half 188 ispulled away, the spring 191 is compressed. Once half 188 is released,the spring 191 uncompresses to quickly bring half 188 towards half 186,similar to a pinball machine handle. When the spring 191 is at theneutral position, the clamp 184 may be docked on a delivery system (suchas indicated by the dashed circle), but not fully locked.

In some embodiments, the threading can be replaced with a quarter turnquick locking design. Thus, the bolt 181 can include protrusions on oneend, and the half 186 can include a mating feature for the protrusions.The bolt 181 can then be push inserted and rotate a quarter turn so theprotrusions fit within the mating feature, preventing further motion.The bolt 181 can be released by turning the bolt 181 so that theprotrusions can slide out fo the half 186.

Accordingly, the clamp 182 and the hub nest 166 can be generallylongitudinally and/or angularly aligned and angled downwards towards adistal end of the delivery system, which is shown attached in FIGS.16-18. Thus, the delivery system handle 300 can be held within the clamp182 and the hub nest 166. FIG. 16 illustrates an intermediate positionof the delivery system, while FIG. 17 illustrates the proximalmostposition of the delivery system and FIG. 18 illustrates the deliverysystem in the distalmost position.

Method of Operation

Disclosed is a method of operation of embodiments of the disclosedstabilizer 100 for delivering a replacement heart valve, in particular areplacement mitral valve. This can be particularly useful for atransseptal approach, but the stabilizer can be utilized with otherapproaches as well, such as transapical, and other heart valves, such asaortic. Further, the stabilizer 100 can be used for other medicalprocedures, and is not limited to replacing heart valves.

First, the base adapter 140 can be clamped to a surface, such as a tableor the base 102 discussed above. The table can be located over or nextto a patient. In some embodiments, the patient can be aligned generallyperpendicular to the stabilizer 100. In some embodiments, the patientcan be aligned generally parallel to the stabilizer 100. In someembodiments, the patient can be aligned at any angle between beingparallel or perpendicular to the stabilizer 100.

Next, a distal portion of the main body 202 can be inserted into thebase adapter 140 to dock the main body 202 with the base adapter 140.This can allow the main body 202 to be quickly located into the properposition as the base adapter 140 is already clamped down. Additionally,the base adapter 140 can allow for the stabilizer 100 to be used ondifferent sized surface as there is some space within the base adapter140. Thus, if the surface is long, the main body 202 may only beinserted a small amount into the base adapter 140. However, if thesurface is shorter, the main body 202 may be inserted into the baseadapter 140 as far as it can go.

Following, a proximal end of the main body 202 can be clamped to thesurface. The delivery system may be attached into the main body 202 asdiscussed below prior to insertion of the main body 202 into the baseadapter 140. However, in some embodiments the delivery system isattached after the main body 202 is inserted into the base adapter 140.The clamps and docking procedure can further provide gripping andstability.

For attachment of the delivery system, the distal end of the deliverysystem can be slid through the sheath hub 161 so that the deliverysystem extends distally from the stabilizer 100. The sheath hub 161 canrotate within the hub nest 166 in order to facilitate insertion of thedelivery system. In some embodiments, the sheath hub 161 is already onthe delivery system and the sheath hub 161 is then clicked into place inthe stabilizer 100. Once inserted into the sheath hub 161, the handle ofthe delivery system can then be placed into the clamp 184. The clamp 184can be adjusted in position using knob 178 in order to properly placethe clamp 184 on the handle. This can be done to avoid any interferencewith any actuators on the handle. In some embodiments, the handle mayinclude a specific slot or area for attachment of the clamp 184. Theclamp 184 can then be tightened and held in place within the stabilizer100.

Using knob 178, the handle of the delivery system can be finelycontrolled and advanced/retracted along the linear clamp assembly 170for proper advancement within a patient (such as from the proximalposition of FIG. 17 to the distal position of FIG. 18). When used in atransseptal approach for a replacement mitral valve, translating thedelivery system using knob 178 can advance/retreat the distal end of thedelivery system axially (or generally axially) with respect to thenative mitral valve. The lower angles used in the stabilizer 100 canmake the delivery system easier to use during the procedure. Once theoperation is completed, the delivery system can be removed from thestabilizer 100.

Universal Stabilizer System

In some embodiments, the above described stabilizer 100 can utilize auniversal stabilizer system 1000, such as shown in FIG. 19.Alternatively, only certain components from the above describedstabilizer 100, such as guide assembly 170, may be used with theuniversal stabilizer. This system can be easily adaptable for differentsized bases and delivery systems.

Similar to the above, a base 102 and a plate 104 can be used with astabilizer 1000. However, the stabilizer 100 can utilize a universallyattachable rail 1010 (instead of the clamps 120 and base plate 107),which may allow more flexibility and adaptability. However, thesecomponents may be used in the universal stabilizer system 1000 in someembodiments. In some embodiments, the base plate 207 may be attacheddirectly to the rail 1010. In some embodiments, only the guide assembly170 may be attached to rail 1010. In some embodiments, the guideassembly 170 and the hub nest 160 may be attached to rail 1010.

FIG. 19 illustrates an embodiment of the stabilizer 1000. As shown, thestabilizer 1000 can include a rail 1010, which may include moveableclamp 1012 and a stationary clamp 1014 spaced longitudinally apart. Insome embodiments, both clamps may be moveable. As discussed in detailbelow, the moveable clamp 1012 can slide along the rail and be locked ata desired position on the rail, thus allowing the rail 1010 to beattached to different sized surfaces.

The stabilizer 1000 can further include a rail dock 1016, which can beused to attach a delivery system holder to the rail 1010. In someembodiments, the rail dock 1016 can be integrally formed with a deliverysystem holder. For example, the guide assembly 170 may be attached to anupper surface of the rail dock 1016. Different clamps on the deliverysystem holder can be used for different devices, and different deliverysystem holders can be swapped out and attached to the rail dock 1016 asneeded. In some embodiments, multiple rail docks 1016 may be used alongthe rail 1010, for example holding both the guide assembly 170 in aproximal position and the hub nest 160 at a distal position. The raildock 1016 may include similar angled surfaces as discussed above withrespect to 130 and 150. In some embodiments, the rail dock 1016 can havean adjustable upper surface for adjusting angles.

As shown in FIGS. 20A-20F, the rail dock 1016 may have a bottom surfacewith protrusions 1009 that at least partially wraps around a top surfaceof the rail 1010 for allowing the rail dock 1016 to slide along the rail1010, while preventing removal. The rail dock 1016 can further include alock, such as a quick quarter lock, for attachment and detachment to therail 1010 and for maintaining the position of the rail dock 1016 on therail. As shown, the lock can include a handle 1017 rotatably connectedto one side of the rail dock 1016 and attached, such as by a spring orpair of springs 1031 and a bolt or other attachment member 1033, toplate 1015 on an opposite side of the rail dock 1016. The handle 1017can fit within a cutout on a side of the rail dock 1016 in someembodiments. Alternatively, buttons, knobs, or other actuators could beused in some embodiments. The handle 1017 can be rotated between alocked (FIG. 20C) and unlocked (FIG. 20D) position. By rotating thehandle 1017 into the locked position, plate 1015 is compressed on theopposite side of the rail dock 1016 onto the rail 1010, such as throughcompression of the springs shown in FIG. 20E, which locks foot 1007 ofplate 1015. This prevents motion of the rail dock 1016 and furtherprevents removal of the rail dock 1016 from the rail 1010. In theunlocked position, the rail dock 1016 can be slid off longitudinal endsof the rail 1010, or may be rotated towards the handle 1017 for removal,following a standard picatinny design. In some embodiments, the raildock 1016, in either the locked or unlocked position, may not be liftedstraight off the rail 1010. In some embodiments, the rail dock 1016 mayinclude a Delrin base and PEEK handle 1017/plate 1016, though the typeof material is not limiting. In some embodiments, the rail dock 1016 maybe stationary on the rail 1010 and thus may not use a locking system.

FIG. 19 illustrates the guide assembly 170 attached ton upper surface ofthe rail dock 1016. As shown in FIGS. 20A-20F, in a configuration thatis similar to second angled section 150, the rail dock 1016 may includea groove/slot 1019 on the upper surface in order to attach to aprotrusion on the bottom surface of the guide assembly 170. Furtherattachment, such as screws, bolts, or magnets, can be used to moresecurely attach the guide assembly 170 to the rail dock 1016. However,the upper surface of the rail dock 1016 may be modified, and in someembodiments may not include the slot, may include any number ofscrew/bolt holes (1, 2, 3, 4, 5, 6), or other adjustments for attachingto different clamps.

Advantageously, the base 102 and plate 104 may be reusable andnon-sterile, though remaining under a sterile field. The rail 1010 andthe stationary clamp 1014 can both be reusable and sterile. In someembodiments, the moveable clamp 1012 and the rail dock 1016 may also bereusable and sterile. In alternative embodiments, one or both of themoveable clamp 1012 and the rail dock 1016 may be disposable andreplaceable on the rail 1010. This can allow for modifications to therail 1010 for adapting to different delivery devices and attachments.

FIGS. 21A-21C show an embodiment of the rail 1010, which can be formedof metal, such as stainless steel, although the specific material is notlimiting. In some embodiments, the rail 1010 is formed from a materialthat can be designed for reuse cleaning/autoclaving. A shown in FIG.21B, which views the rail 1010 along a longitudinal line, the rail 1010can include pairs of side protrusions 1111 extending outwardly away fromthe rail on each side orthogonal to the longitudinal axis, therebyforming a cavity 1013 between side protrusions 1111 on each side of therail 1010. The protrusions 1111 can be rectangular or triangular, andthe specific shape is not limiting. In some embodiments, the upperprotrusion 1111 can be triangular and the lower protrusion 1111 can berectangular. In some embodiments, protrusions 1111 on opposite sides maybe differently shaped, or may be the same. Protrusions 1111 on the sameside may be differently shaped or may be the same. Thus, inwardextending arms of, for example, the rail dock 1016 or the moveable clamp1012 can be held within the cavity 1013 to prevent release from the rail1010. The protrusions 1111 can extend fully along the length of the rail1010. In other embodiments, the protrusions 1111 may extend at least 90,95, or 99% along the length of the rail 1010.

FIGS. 22A-22B illustrate alternate example embodiments of cross sectionsof the rail 1010. However, the cross sections are not intended to limitthe shape and any type of cross-section can be used (such as rectangularcross sections). The rails 1010′/1010″ can include divots 1022 andextensions 1024 (which may act like protrusions 1111 and cavity 1013).

FIG. 23 illustrates a perspective of the rail 1010 and stationary clamp1014. As shown, the stationary clamp 1014 can be integrated with therail 1010, though in other embodiments it may be usable. The stationaryclamp 1014 may be angled, and may be a hook, clamp, or other attachmentmechanism. The stationary clamp 1014 may be flexible to allow forattachment to different thicknesses of surfaces 1030, such as shown inFIGS. 24A-24C. As shown in FIG. 21C, the stationary clamp 1014 may beinserted into a slot in the bottom surface of the rail 1010. Thestationary clamp 1014 may be integrally formed with the rail 1010,mechanically, or chemically adhered.

FIG. 21C illustrates a view of an embodiment of the moveable clamp 1012.As discussed, the moveable clamp 1012 may be disposable or reusable. Theclamp 1012 can be attached generally at one longitudinal end of the rail1012. The movable clamp 1012 can be formed from a knob 1021, an attachedplate 1023 and a clamp 1025. The attached plate 1023 may be insertedinto a slot in the bottom surface of the rail 1010. The attached plate1023 may be integrally formed with the rail 1010, mechanically, orchemically adhered. The attached plate can hold a screw/bolt 1029extending from knob 1021, such as through an aperture in the attachedplate 1023. The end of the screw/bolt 1029 opposite the knob 1021 canmate with the clamp 1012. The clamp 1012 can includes protrusions 1027(seen in FIG. 21B) on the upper surface to fit within the cavity 1013 oneach side of the side of the rail 1010, thus allowing the clamp 1012 toslide along the rail 1010 while remaining attached. When the knob 1021is turned, the clamp 1012 can move longitudinally along the rail 1010.This allows the clamp 1012 to compress onto different sized surfaces,allowing for the universal nature of the system 1000.

FIG. 25 shows an alternate embodiment of the moveable clamp 1012 asclamp 1012′, and thus may incorporate some or all of the featuresdiscussed above with respect to moveable clamp 1012. As discussed, themoveable clamp 1012′ may be disposable or reusable. As shown, the clamp1012′ may generally include a body 1040, a release 1042, and a clamp1044. The body 1040 can interact with (e.g., attach to, couple with) therail 1010. The body 1040 can slide along the rail 1010, such as withinthe cavities 1013. Further, the body 1040 can include a mechanism thatprevents backward motion of the body 1040, thus preventing accidentalrelease. The body 1040 can further contain a release actuator (knob,button, switch, etc.) that can be actuated to release the one-waymechanism, thus allowing the body 1040 to be moved away from thestationary clamp 1014. Further, the moveable clamp 1012′ may include aclamp mechanism 1044 as discussed above with regards to the stationaryclamp 1014. The clamp mechanism 1044 may be the same or different thanthe stationary clamp 1014.

As shown in FIGS. 26A-26B, the moveable clamp 1012 may be moved in orderto easily and quickly clamp onto a surface 1030. In some embodiments,the moveable clamp 1012 can slide along an outer surface of the rail1010. In some embodiments, the rail 1010 may contain an inner lumen, andthe moveable clamp 1012 may contain a portion that slides within theinner lumen. In some embodiments, the moveable clamp 1012 may include aone-way sliding mechanism with a release, to allow for moving andlocking of the moveable clamp 1012.

FIG. 27 illustrates an embodiment of the rail 1010 with the clamps1012/1014/1016 removed. As shown, the rail 1010 can include wings orfeet 1018. These wings 1018 may be integrated with the rail 1010, orremovable and attachable. The wings 1018 may provide additional supportand stability, to prevent any rocking of the rail 1010. Thus, the wings1018 may contact a surface the rail 1010 is on while the system is inuse. As shown, the wings 1018 may be located near the stationary clamp1014, though the position of the wings 1018 is not limiting.

FIG. 28 illustrates an embodiment of the above disclosed system 1000 onbase 102.

Electronic and Motorized Control

In some embodiments, the stabilizer 100 (or stabilizer 1000) can beelectronically controlled. Thus, a user does not need to directlyinteract with the stabilizer 100/1000 once a delivery system isinstalled and the stabilizer 100/1000 is attached to a surface in orderto move the delivery system. For example, any of the knobs (127, 178,183, 1021) or other actuators on the stabilizer 100/1000 can beelectronically controlled, such as through a computer, phoneapplication, controller (wireless or directly connected), or otheroperation. In some embodiments, the position of the rail dock 1016 canbe electronically controlled as well. Thus, in some embodiments thestabilizer 100/1000 may include a motor to manipulate the actuators onthe stabilizer 100/1000. Further, the stabilizer 100/1000 could includemotors/sensors/controls to operate the delivery system remotely. Thiscan provide an option for a semi-robotic procedure wherein thestabilizer's primary function is more akin to an actuation tool. Becausethe stabilizer is capable of actuating knobs, a physician could implanta valve via a remote location. Alternatively, if the physician was in alocation with the stabilizer 100/1000, the electronic control can assistthe physician and/or allow the physician to spend more time looking atthe visualization.

As an example, a controller could operate knob 178 in order to movehandle carriage 180 along the screw 176 in either stabilizer 100/1000,thus providing distal and proximal motion of the delivery system. Thecontroller could include locking features to prevent inadvertent motion.

In some embodiments, feedback from visualizations (x-ray, fluoroscopy,etc.) can be used to improve delivery and reduce the chance of vasculardamage. For example, the stabilizer 100/1000 could stop any movementautomatically to avoid contacting/damaging a patient's anatomy. In someembodiments, sensors and/or visualization could be included to measureand provide feedback, such as deflection angle of the delivery system.Sensors can be incorporated into the delivery system, and could be incommunication with, such as wirelessly, with the stabilizer 100/1000.The sensors could be used to detect parameters including, but notlimited to, force, pressure, position, deflection, or rotation. Anelectronically controlled system may also utilize artificialintelligence, such as using machine learning, to enhance the procedure.Data from previous procedures, especially from patients with similaranatomies, could be utilized to help direct the advancement of thecatheter and deployment of the prosthetic valve. In an advancedembodiment, the entire procedure could be performed autonomously withnear perfect accuracy by utilizing large amounts of data and experiencefrom previously performed procedures.

FIGS. 29 and 30 illustrate embodiments of motorized controls. Thesecontrols can utilize any of the above electronic/motorized controls andcan be incorporated into any of the disclosed stabilizers and deliverysystems. Alternatively, they can be used separately.

FIG. 29 illustrates an embodiment of a knob control system 1050. Thesystem 1050 can be designed to fit around a portion, or all, of a handleof a delivery system (such as delivery system 300). FIG. 29 illustratesa clamshell design formed from an upper half 1052 and a lower half 1054,which can form a holder/container. The handle can fit within a cavity1058 in the lower half 1054, and any shafts can extend out an aperture160 in the system 150. The upper half 1052 may contain rollers 1056,such as compression rollers, which can apply friction to any knobs onthe delivery system once the system 1050 is closed around a handle. Thelower half 1054 may also contain rollers 1056, either along with theupper half 1052 or instead of the upper half 1052 having rollers 1056.While a clamshell is an example design, other designs can be used thatcan partially or fully contain a delivery system handle. Further, othermechanisms for actuating knobs on the delivery system can be used aswell instead of or in conjunction with the rollers.

The system 1050 can include a variety of different sections A-E along alength of the system 1050. The number of sections is not limiting, andcan include 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10 sections. The sections maybe physically isolated from one another, such as by a barrier or wall,or may just be separate connected areas with different components. Allor some of the sections may include rotatable components, such asrollers 1056, or may themselves rotate. The number of rotatable sectionsmay be the same as the number of rotatable knobs on a delivery system.For example, 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10 sections may includerotatable components. By rotating the rollers 1056 in a rotatablesection which are frictionally pressed against a knob on a handle, theywould rotate their respective knob/actuator on the delivery system.Thus, by individually rotating the rollers 1056 in different sections,different knobs can be actuated on the handle. The rollers 1056 indifferent sections can apply different forces on the handle. Somesections may not include rotatable components and may be a tighter fitto hold the handle in place while other sections are rotating, therebyallowing the knobs to be actuated. The rotatable sections may be rotatedindividually or may be rotated together as desired by a user.

The system 1050 can be attached to a motor (or may contain a motorwithin or outside the system 1050) in order to rotate the components indifferent rotatable sections. In some embodiments, the motor can be anencoder, which can track the number of rotations and location of eachsection. The motor can be operated wired or wirelessly, as discussedabove.

FIG. 30 illustrates an embodiment of a motorized control system 1070 formanipulating a handle of a delivery system. Unlike system 1050, system1070 is used to move the handle as an entire unit. In some embodiments,system 1070 may not be used and system 1050 may be configured to fullyrotate the handle as well as the different knobs. The system 1070 caninclude a rotatable band/strap/holder 1072 that can wrap around a handleof a delivery system or may wrap around a stationary section of system1050. The band 1072 may frictionally hold the handle or system 1050 ormay be mechanically or chemically adhered. The band 1072 can be rotatedto fully rotate the delivery system. Further, the system 1070 mayinclude a stand/base 1074. The base 1074 may be located on track 1076 orother translatable component. The base 1074 can be translated along thetrack 1076 to provide axial/longitudinal motion to the delivery system.Both the track 1076 and band 1072 may be operated by a motor, such asdiscussed herein. The same motor can be used to operate systems 1070 and1050. In some embodiments, different motors are used.

Thus, if both system 1070 and 1050 are used at the same time, a user canindividually manipulate different knobs as well as translate thedelivery system rotationally or axially. The different moveablecomponents discussed herein can all be operated electronically.

Magnetic Attachment

As discussed above, the stabilizer 100/1000 utilizes atraumatic clamps(120, 1012, 1014) to attach the stabilizer 100/1000 to the base 102. Thebase 102 is typically under a sterile drape and the stabilizer 100/1000is on top of the drape, and therefore the connection between the two issuch that the sterile field is maintained. Preferably, the connection isrobust, but also quick so as not to delay the procedure, while alsobeing atraumatic to the sterile drape. Further, it can be useful for theconnection to be able to be removed quickly if the stabilizer 100/1000needs to be moved and the delivery system handle 300 handled manually.While the above discussed clamps can achieve all these advantages, otherattachment/connections can be utilized instead of or in conjunction withthe clamps. Thus, magnetic attachment could replace any and all theabove disclosed clamps. In some embodiments, the base adapter 140 may beremoved with the use of the magnetic attachment. Further, the flange 204may be removed from the base plate 207 so that the stabilizer 100/1000has a flat bottom surface. For stabilizer 1000, clamps 1012 and 1014could be removed.

In some embodiments, a magnet (such as a magnetic clamping mechanism,magnetic clamp, etc.) can be used to attach the stabilizer 100/1000 tothe base 102. The magnetic clamp could be removed easily, and would be aquick, reliable, method for attaching the stabilizer 100/1000 to thebase 102. In some embodiments, the stabilizer 100/1000 is brought intoplace after the delivery system has already crossed into the nativemitral valve, and thus connection speed can be a useful feature. Byusing a magnetic system, the stabilizer 100/1000 can be attached quicklyand would be secured until the end of the procedure.

In some embodiments, the base 102 can be made of a magnetic material inwhich the stabilizer 100/1000, which can be at least partially a metal,can easily adhere to. For example, the upper surface 106 of the base 102can be formed of a magnetic material. In some embodiments, the wholeupper surface 106 can be formed of a magnetic material. In someembodiments, the upper surface 106 may include a strip of magneticmaterial. This strip may have dimensions equivalent to, greater than, orsmaller than that of the footprint of the stabilizer 100/1000. In someembodiments, magnetic material may be attached to an upper surface ofthe upper surface 106, which can then be covered by the sterile drape.As the base 102 is under the drape away from magnetically sensitiveequipment, it can be an advantageous area to place the magnetic feature.

In some embodiments, a magnet can be attached to a bottom surface of thestabilizer 100/1000, such as on a bottom surface of the base plate 207or rail 1010. In some embodiments, a portion or an entirety of the baseplate 207 or rail 1010 can be made of a magnetic material. The base 102can then be made of metal, or other material that is magneticallyattracted to the magnet.

In some embodiment, the magnetic features disclosed above can be anelectromagnet or dipole system. Thus, a user can turn the magnetic fieldon or off, such as through a button, switch, controller, computer, app,etc. Thus, the magnetic connection could be made even stronger and whenthe procedure was complete, an operator can turn off the magnetic fieldand remove the stabilizer 100/1000 with ease.

From the foregoing description, it will be appreciated that inventivestabilizers are disclosed. While several components, techniques andaspects have been described with a certain degree of particularity, itis manifest that many changes can be made in the specific designs,constructions and methodology herein above described without departingfrom the spirit and scope of this disclosure.

Certain features that are described in this disclosure in the context ofseparate implementations can also be implemented in combination in asingle implementation. Conversely, various features that are describedin the context of a single implementation can also be implemented inmultiple implementations separately or in any suitable subcombination.Moreover, although features may be described above as acting in certaincombinations, one or more features from a claimed combination can, insome cases, be excised from the combination, and the combination may beclaimed as any subcombination or variation of any subcombination.

Moreover, while methods may be depicted in the drawings or described inthe specification in a particular order, such methods need not beperformed in the particular order shown or in sequential order, and thatall methods need not be performed, to achieve desirable results. Othermethods that are not depicted or described can be incorporated in theexample methods and processes. For example, one or more additionalmethods can be performed before, after, simultaneously, or between anyof the described methods. Further, the methods may be rearranged orreordered in other implementations. Also, the separation of varioussystem components in the implementations described above should not beunderstood as requiring such separation in all implementations, and itshould be understood that the described components and systems cangenerally be integrated together in a single product or packaged intomultiple products. Additionally, other implementations are within thescope of this disclosure.

Conditional language, such as “can,” “could,” “might,” or “may,” unlessspecifically stated otherwise, or otherwise understood within thecontext as used, is generally intended to convey that certainembodiments include or do not include, certain features, elements,and/or steps. Thus, such conditional language is not generally intendedto imply that features, elements, and/or steps are in any way requiredfor one or more embodiments.

Conjunctive language such as the phrase “at least one of X, Y, and Z,”unless specifically stated otherwise, is otherwise understood with thecontext as used in general to convey that an item, term, etc. may beeither X, Y, or Z. Thus, such conjunctive language is not generallyintended to imply that certain embodiments require the presence of atleast one of X, at least one of Y, and at least one of Z.

Language of degree used herein, such as the terms “approximately,”“about,” “generally,” and “substantially” as used herein represent avalue, amount, or characteristic close to the stated value, amount, orcharacteristic that still performs a desired function or achieves adesired result. For example, the terms “approximately”, “about”,“generally,” and “substantially” may refer to an amount that is withinless than or equal to 10% of, within less than or equal to 5% of, withinless than or equal to 1% of, within less than or equal to 0.1% of, andwithin less than or equal to 0.01% of the stated amount. If the statedamount is 0 (e.g., none, having no), the above recited ranges can bespecific ranges, and not within a particular % of the value. Forexample, within less than or equal to 10 wt./vol. % of, within less thanor equal to 5 wt./vol. % of, within less than or equal to 1 wt./vol. %of, within less than or equal to 0.1 wt./vol. % of, and within less thanor equal to 0.01 wt./vol. % of the stated amount.

Some embodiments have been described in connection with the accompanyingdrawings. The figures are drawn to scale, but such scale should not belimiting, since dimensions and proportions other than what are shown arecontemplated and are within the scope of the disclosed inventions.Distances, angles, etc. are merely illustrative and do not necessarilybear an exact relationship to actual dimensions and layout of thedevices illustrated. Components can be added, removed, and/orrearranged. Further, the disclosure herein of any particular feature,aspect, method, property, characteristic, quality, attribute, element,or the like in connection with various embodiments can be used in allother embodiments set forth herein. Additionally, it will be recognizedthat any methods described herein may be practiced using any devicesuitable for performing the recited steps.

While a number of embodiments and variations thereof have been describedin detail, other modifications and methods of using the same will beapparent to those of skill in the art. Accordingly, it should beunderstood that various applications, modifications, materials, andsubstitutions can be made of equivalents without departing from theunique and inventive disclosure herein or the scope of the claims.

What is claimed is:
 1. A stabilizer for a delivery system, thestabilizer comprising: an elongated main body comprising a proximal endand a distal end and a longitudinal axis extending between the proximalend and the distal end, the elongated main body comprising: a generallyflat base plate extending between the proximal and the distal end; afirst angled surface located on top of the base plate, the first angledsurface being sloped downwardly toward the distal end; and a secondangled surface located on top of the base plate and spacedlongitudinally away from and proximal of the first angled surface, thesecond angled surface being sloped downwardly toward the distal end; ahub nest attachable on top of the first angled surface, the hub nestcomprising an extension extending upwards from the first angled surface,the extension configured to releasably hold a sheath hub of the deliverysystem; a handle carriage on top of the second angled surface, thehandle carriage comprising a track attachable to the second angledsurface and a delivery system clamp configured to longitudinally travelalong the track, wherein the delivery system clamp is configured toreleasably hold a handle of the delivery system; and a base adapter,wherein the distal end of the main body is configured to releasablyconnect with the base adapter.
 2. The stabilizer of claim 1, wherein thebase adapter comprises a pair of proximally extending arms and an uppertab configured to receive distally extending tabs of the main body toprevent upward motion of the main body.
 3. The stabilizer of claim 1,wherein the first angled surface and the second angled surface areconfigured to be individually angularly adjusted with respect to theflat base plate.
 4. The stabilizer of claim 1, wherein the handlecarriage comprises a first knob configured to longitudinally translatethe delivery system clamp along the housing and a second knob configuredto open and close the delivery system clamp.
 5. The stabilizer of claim1, further comprising a travel screw located within the housing, whereina portion of the delivery system clamp is located within the housing andinterfaces with the travel screw.
 6. The stabilizer of claim 1, whereinthe first angled surface has a lower height relative to the base platethan the second angled surface.
 7. The stabilizer of claim 1, wherein amotor is configured to translate the delivery system clamp along thetrack, and wherein the motor is configured to open and close thedelivery system clamp.
 8. The stabilizer of claim 7, wherein the motoris configured to be operated remotely.
 9. A stabilizer system comprisingthe stabilizer of claim 1, and further comprising a base having agenerally flat upper surface and a plurality of legs extendingdownwards.
 10. The stabilizer system of claim 9, wherein the stabilizeris configured to magnetically attach to the generally flat upper surfaceof the base.
 11. The stabilizer system of claim 10, wherein the magneticattachment comprises electromagnetic attachment.
 12. A universalstabilizer for a delivery system, the universal stabilizer comprising: alongitudinally extending rail having an upper facing surface and a lowerfacing surface; a stationary clamp attached to the lower facing surfaceof the longitudinally extending rail; a moveable clamp attached to thelower facing surface of the longitudinally extending rail and spacedlongitudinally away from the stationary clamp, wherein the moveableclamp is configured to translate along the longitudinally extendingrail; and a rail dock attached to the upper facing surface of thelongitudinally extending rail, the rail dock configured to mate with adelivery system holder on an upper facing surface of the rail dock,wherein the rail dock is configured to translate along thelongitudinally extending rail.
 13. The universal stabilizer of claim 12,wherein the moveable clamp comprises a knob configured to adjust alongitudinal position of the moveable clamp.
 14. The universalstabilizer of claim 12, wherein the rail dock comprises a handleconnected to a plate on an opposite side of the rail dock, whereinactivation of the handle prevents the rail dock from translating on thelongitudinally extending rail.
 15. The universal stabilizer of claim 12,wherein the delivery system holder comprises a handle carriagecomprising a track and a delivery system clamp configured tolongitudinally travel along the track, wherein the delivery system clampis configured to releasably hold a handle of a delivery system.
 16. Theuniversal stabilizer of claim 12, wherein the longitudinally extendingrail further comprises a first pair of outwardly extending protrusionsforming a first cavity between and a second pair of outwardly extendingprotrusions forming a second cavity between, the first pair of outwardlyextending protrusions being on an opposite side of the rail from thesecond pair of outwardly extending protrusions.
 17. The universalstabilizer of claim 12, further comprising a second rail dock attachedto the upper facing surface of the longitudinally extending rail andspaced apart from the rail dock, the second the rail dock configured tomate with a second delivery system holder on an upper facing surface ofthe second rail dock, wherein the second rail dock is configured totranslate along the longitudinally extending rail.
 18. A motorizedcontrol stabilizer system for a delivery device having a handle withplurality of actuators, the system comprising: a knob control systemconfigured to individually operate each of the plurality of actuators,the knob control system comprising: a container configured to at leastpartially encompass the handle; a plurality of stationary sectionslocated within the container and configured to hold the handle in aposition; a plurality of roller sections located within the container,each of the plurality of roller sections containing at least one roller;and a motor configured to operate the at least one roller in each of theplurality of roller sections individually, wherein the at least oneroller in each of the plurality of roller sections is configured tooperate an actuator of the plurality of actuators when the at least oneroller is operated; and a handle control system configured to translatethe handle of the delivery device, the handle control system comprising:a band configured to at least partially surround the container androtate the container and handle upon translation of the band; a standconnected to the band; and a track in communication with the stand,wherein the stand is configured to translate along the track.
 19. Themotorized control stabilizer system of claim 18, further comprising acontroller to electronically operate the motorized control stabilizersystem.
 20. The motorized control stabilizer system of claim 18, whereinthe container comprises a distal aperture, and wherein shafts extendingfrom the handle of the delivery device are configured to extend throughthe distal aperture.